JPS60128314A - Fruit discriminating device - Google Patents
Fruit discriminating deviceInfo
- Publication number
- JPS60128314A JPS60128314A JP23725583A JP23725583A JPS60128314A JP S60128314 A JPS60128314 A JP S60128314A JP 23725583 A JP23725583 A JP 23725583A JP 23725583 A JP23725583 A JP 23725583A JP S60128314 A JPS60128314 A JP S60128314A
- Authority
- JP
- Japan
- Prior art keywords
- signal
- fruit
- binary
- difference
- color
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Spectrometry And Color Measurement (AREA)
- Image Processing (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、例えば特願昭57−140021号等により
本出願人が既に提案しているような果実収穫装置に装備
される果実収穫用ロボットハンドの果実への誘導等に好
適に適用可能な果実識別装置に関し、詳しくは、本出願
人が特願昭58−106509学により既に提案してい
るモニタカメラからの赤色系信号と青色糸イ=号との差
信号を2値化することによって果実に対応する信号のみ
を抽出する果実の識別方法によって果実に対応したコ値
化信号を得る果実識別装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for guiding a fruit harvesting robot hand to fruit, which is installed in a fruit harvesting device as already proposed by the applicant in, for example, Japanese Patent Application No. 57-140021. Regarding the fruit identification device that can be suitably applied to, in detail, the present applicant has already proposed in Japanese Patent Application No. 106509/1982, which detects the difference signal between the red signal from the monitor camera and the blue thread I= by 2. The present invention relates to a fruit identification device that obtains a co-valued signal corresponding to a fruit using a fruit identification method that extracts only the signal corresponding to the fruit by converting it into a value.
上記果実職別方法では、基本的に赤色系信号より青色系
信号を減算することによって、一般的に赤色から黄色の
範囲に有る果実の色に対応する赤色系信号から空やハイ
ライトの信号成分である青色系信号のレベルを除去して
、その差信号を2値化することにより、果実に対応し九
2値化信号が得られるのであるが、具体的にこの方法を
適用して識別装置を構成する場合に以 。In the above fruit classification method, by basically subtracting the blue signal from the red signal, the sky and highlight signal components are subtracted from the red signal corresponding to the color of the fruit, which generally ranges from red to yellow. By removing the level of the blue signal and binarizing the difference signal, a binary signal corresponding to the fruit can be obtained. When configuring the following.
下に示すような不都合が有った。There were some inconveniences as shown below.
即ち、赤色系信号と青色系信号との差信号をそのままコ
値化すると画像信号に含まれるノイ 。In other words, if the difference signal between the red signal and the blue signal is converted into a co-value as it is, noise will be included in the image signal.
ズによって、コ値化信号にノイズが含入する場合が有り
、この2値化信号より前記ノイズを後で除去することは
実質的に不可能である。 まだ、屋外で使用するために
、周囲の明るさ金一定にすることは困難であり、前記差
信号を2値化する前に周囲の明るさや抽出すべき果実の
色に対応してそのコ値化レベルを調整する必要が有る。Depending on the noise, noise may be included in the co-valued signal, and it is virtually impossible to remove the noise later from the binarized signal. Since it is still used outdoors, it is difficult to keep the ambient brightness constant, so before binarizing the difference signal, its value is adjusted depending on the ambient brightness and the color of the fruit to be extracted. It is necessary to adjust the conversion level.
本発明は、上記実情に鑑みてなされたものであって、そ
の目的は、所望の果実の色に対応した2値化信号を実時
間で得られる果実識別装置を提供することにある。The present invention has been made in view of the above-mentioned circumstances, and an object thereof is to provide a fruit identification device that can obtain a binarized signal corresponding to a desired fruit color in real time.
上記目的を達成すべく、本発明による果実識別装置は、
前記赤色系信号と青色系信号との差信号を演算する演算
器、前記差信号よりノイズを除去するローパスフィルタ
ー、このフィルターを介して得られる差信号を任意の増
幅度で増幅する増幅器、およびこの増幅器の出力信号を
2値化するコンパレータを設けである点に特徴を有する
。In order to achieve the above object, a fruit identification device according to the present invention includes:
an arithmetic unit that calculates a difference signal between the red signal and the blue signal; a low-pass filter that removes noise from the difference signal; an amplifier that amplifies the difference signal obtained through this filter to an arbitrary amplification degree; It is characterized by the provision of a comparator that binarizes the output signal of the amplifier.
上記特徴故に、下記の如き優れた効果が発揮されるに至
った。Because of the above characteristics, the following excellent effects have been achieved.
即ち、赤色系信号と青色系信号との差信号をソイlレタ
ーおよび増幅器を介してコンパレータによって2値化す
るので、前記フィルターにより予めノイズを除去した後
適正レベルに調整された差信号を2値化することとなっ
て、コンパレータより出力される信号はノイズ成分が含
入していない果実のみに対応した2値化信号となるので
ある。That is, since the difference signal between the red signal and the blue signal is converted into a binary signal by a comparator via a soil letter and an amplifier, the difference signal, which has been adjusted to an appropriate level after noise has been removed by the filter, is converted into a binary signal. As a result, the signal output from the comparator becomes a binary signal corresponding only to the fruit and does not contain noise components.
又、この2値化の信号処理はモニタカメラからの画像信
号を直接変換するものであるから、そのコ値信号は実時
間で連続的に得られるので、装置の構成を極めて簡素な
ものにできるという非常に大きな効果がある。In addition, since this binarization signal processing directly converts the image signal from the monitor camera, the value signal can be obtained continuously in real time, so the configuration of the device can be extremely simple. This has a very large effect.
以下、本発明の実施例を図面に基いて説明する。Embodiments of the present invention will be described below with reference to the drawings.
図面は、果実識別装置の構成を示すブロック図であって
、3原色に対応する各色信号(R) 、 (G) 。The drawing is a block diagram showing the configuration of a fruit identification device, and includes color signals (R) and (G) corresponding to the three primary colors.
(B)および輝度信号(y)と同期信号(sy) 、お
よびコンポジット信号(NTSC)を同時に出力可能に
構成グれだカラーモニタカメラ(1)から出力される赤
色系信号(R+と青色系信号(Blを演n器(2)に入
力して差(FT号(R−B)を演算し、この差信号(R
−B )をローパスフィルター(3)に入力してノイズ
成分を除去し、増幅器(4)により所定レベルに増幅し
て、コンパレータ(5)によシ2敏化すべく構成しであ
る。(B), brightness signal (y), synchronization signal (sy), and composite signal (NTSC) can be output simultaneously. (Bl is input to the operator (2) to calculate the difference (FT signal (R-B), and this difference signal (R
-B) is input to a low-pass filter (3) to remove noise components, amplified to a predetermined level by an amplifier (4), and then amplified by a comparator (5).
そして、1lliJ if己コンパレータ(6)により
2f1α化された差信号(R−B)すなわち果実(a)
・・に対応した2値化画像信号(DJはフレームメモリ
(6)に一端記°1意され前記カメラ(1)よ多出力さ
れる同期信号(sy)によりスキャンニングされて、モ
ニタテレビ(7)によって果実(al・・のみに対応し
た2値化il!;i像として表示するとともに、制御装
置としてのマイクロコンピュータ(8)によって前記フ
レームメモリ(6)内の2値化画像信号(D)を演算処
理して、果実(al・・の画面上の位irjデータをめ
るのである。Then, the difference signal (R-B) converted into 2f1α by the 1lliJifself comparator (6), that is, the fruit (a)
The digital image signal (DJ) is scanned by a synchronization signal (sy) which is written in the frame memory (6) and outputted multiple times from the camera (1), and then sent to the monitor television (7). ) to display it as a binarized image corresponding to only the fruit (al...; is calculated and the position irj data of the fruit (al...) on the screen is obtained.
更に、1jil記カメラ+11より出力されるコンポジ
ット信号(NTSC)をカラーモニタテレビ(9)に入
力して果実(al・・を含む撮像範囲を直接表示すべく
構成しである。Furthermore, the composite signal (NTSC) output from the camera +11 is input to the color monitor television (9) to directly display the imaging range including the fruit (al...).
尚、前記増幅器(4)の増幅度(Klは前記カメラ(1
)よ多出力される輝度信号(Y)のレベルに対応して自
動的に調整されて周囲の明るさく関係なく一定のレベル
の信号をコンパレータ(5)に出力して抽出する色を自
動補正すべく構成しであるが、この増幅度(Klの調整
は人為的に行なってもよい。Note that the amplification degree (Kl) of the amplifier (4) is the amplification degree (Kl) of the amplifier (4).
) The color to be extracted is automatically corrected by outputting a signal at a constant level to the comparator (5), which is automatically adjusted in accordance with the level of the brightness signal (Y) that is output frequently, regardless of the surrounding brightness. However, the amplification degree (Kl) may be adjusted manually.
又、前記輝度信号(Y)によって、コンパレータ(5)
の2値化基準レベルを自動調節すべく構成してもよい。In addition, according to the luminance signal (Y), a comparator (5)
The binarization reference level may be automatically adjusted.
更に又、前記モニタテレビ+7) 、 +91は別々に
設けるのではなく、7台のモニタテレビで共用してもよ
い。Furthermore, the monitor televisions +7) and +91 may be shared by seven monitor televisions instead of being provided separately.
図面は本発明に係る果実識別装置の実施例を示すブロッ
ク図である。
(1)・・・・・・モニタカメラ、(2)・・・・・・
演算器、(3)・・・・・・ローパスフィルター、(4
)・・・・・・増幅Rg 、(5)・・・・・・コンパ
レータ、(9)・・・・・・赤色系信号、(Bl・・・
・・・青色系信号、(RLB)・・・・・・差信号、(
6)・・・・・・増幅度。
代理人 弁理士 北 村 修The drawing is a block diagram showing an embodiment of a fruit identification device according to the present invention. (1)...Monitor camera, (2)...
Arithmetic unit, (3)...Low pass filter, (4
)...Amplification Rg, (5)...Comparator, (9)...Red signal, (Bl...
... Blue signal, (RLB) ... Difference signal, (
6)...Amplification degree. Agent Patent Attorney Osamu Kitamura
Claims (1)
号(B)との差信号(R−B)を、2値化することによ
り、nU記モニタカメヲ0)によって撮られている画像
信号から果実に対応する信号のみを抽出する果実識別装
置であって、前記赤色系信号(R)と青色系信号CB)
との差信号(R−B)を演算する演算器(2)、前記差
信号(R−B )よりノイズを除去スるローパスフィル
ター+31 、このフィルター(3)を介して慢られる
差信号(R−B )を任意の増幅/f (K)で増幅す
る増幅器(4)、およびこの増幅器(4)の出力信号を
2値化するコンパレータ(5)を設けであることを特徴
とする果実識別装置。By binarizing the difference signal (R-B) between the red signal (R) and the blue signal (B) from the monitor camera f1+, the image signal taken by the monitor camera f1+ is converted into a fruit. A fruit identification device that extracts only signals corresponding to the red signal (R) and the blue signal CB).
an arithmetic unit (2) that calculates the difference signal (R-B) between the difference signal (R-B); a low-pass filter +31 that removes noise from the difference signal (R-B); -B) by an arbitrary amplification /f (K), and a comparator (5) that binarizes the output signal of this amplifier (4). .
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP23725583A JPS60128314A (en) | 1983-12-15 | 1983-12-15 | Fruit discriminating device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP23725583A JPS60128314A (en) | 1983-12-15 | 1983-12-15 | Fruit discriminating device |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS60128314A true JPS60128314A (en) | 1985-07-09 |
Family
ID=17012695
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP23725583A Pending JPS60128314A (en) | 1983-12-15 | 1983-12-15 | Fruit discriminating device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS60128314A (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62295190A (en) * | 1986-06-14 | 1987-12-22 | Kubota Ltd | Fruit recognition device |
FR2606573A1 (en) * | 1986-11-06 | 1988-05-13 | Cemagref | METHOD AND DEVICE FOR REAL-TIME ANALOGICAL SPECTRAL PRESELECTION, FOR EXAMPLE FOR ARTIFICIAL VISION SYSTEM |
US5341176A (en) * | 1991-05-31 | 1994-08-23 | Seiko Epson Corporation | Automatic focus adjuster for projection display systems having in-operation and end-of-operation symbols superimposed over video data |
US5459532A (en) * | 1993-03-29 | 1995-10-17 | Seiko Epson Corporation | Automatic focus adjuster for projection display systems having focus adjustment display symbols |
USRE36060E (en) * | 1989-10-31 | 1999-01-26 | Seiko Epson Corporation | Liquid crystal video projector having lamp and cooling control and remote optics and picture attribute controls |
CN103544493A (en) * | 2013-10-24 | 2014-01-29 | 江苏大学 | Fruit distinguishing and locating method with laser scanning and machine vision combined |
CN107262389A (en) * | 2017-04-25 | 2017-10-20 | 无为皖江粮食机械有限公司 | A kind of grain impurity cleaning system and method based on IMAQ |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4926018A (en) * | 1972-06-30 | 1974-03-08 | ||
JPS5298418A (en) * | 1976-02-13 | 1977-08-18 | Nippon Telegr & Teleph Corp <Ntt> | 2-value signal converter apparatus for analogue picture signal |
JPS57123468A (en) * | 1981-01-26 | 1982-07-31 | Hitachi Ltd | Automatic sorting device of leukocyte |
-
1983
- 1983-12-15 JP JP23725583A patent/JPS60128314A/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4926018A (en) * | 1972-06-30 | 1974-03-08 | ||
JPS5298418A (en) * | 1976-02-13 | 1977-08-18 | Nippon Telegr & Teleph Corp <Ntt> | 2-value signal converter apparatus for analogue picture signal |
JPS57123468A (en) * | 1981-01-26 | 1982-07-31 | Hitachi Ltd | Automatic sorting device of leukocyte |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62295190A (en) * | 1986-06-14 | 1987-12-22 | Kubota Ltd | Fruit recognition device |
FR2606573A1 (en) * | 1986-11-06 | 1988-05-13 | Cemagref | METHOD AND DEVICE FOR REAL-TIME ANALOGICAL SPECTRAL PRESELECTION, FOR EXAMPLE FOR ARTIFICIAL VISION SYSTEM |
EP0267860A2 (en) * | 1986-11-06 | 1988-05-18 | Centre National Du Machinisme Agricole, Du Genie Rural, Des Eaux Et Des Forets (Cemagref) | Method and device for analogous real-time spectral preselection, particularly in a system of artificial vision |
EP0267860A3 (en) * | 1986-11-06 | 1990-04-25 | Centre National Du Machinisme Agricole, Du Genie Rural, Des Eaux Et Des Forets (Cemagref) | Method and device for analogous real-time spectral preselection, particularly in a system of artificial vision |
USRE36060E (en) * | 1989-10-31 | 1999-01-26 | Seiko Epson Corporation | Liquid crystal video projector having lamp and cooling control and remote optics and picture attribute controls |
US5341176A (en) * | 1991-05-31 | 1994-08-23 | Seiko Epson Corporation | Automatic focus adjuster for projection display systems having in-operation and end-of-operation symbols superimposed over video data |
US5459532A (en) * | 1993-03-29 | 1995-10-17 | Seiko Epson Corporation | Automatic focus adjuster for projection display systems having focus adjustment display symbols |
CN103544493A (en) * | 2013-10-24 | 2014-01-29 | 江苏大学 | Fruit distinguishing and locating method with laser scanning and machine vision combined |
CN107262389A (en) * | 2017-04-25 | 2017-10-20 | 无为皖江粮食机械有限公司 | A kind of grain impurity cleaning system and method based on IMAQ |
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